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82 lines
2.3 KiB
82 lines
2.3 KiB
#!/usr/bin/env python |
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from __future__ import print_function |
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import os |
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import pexpect |
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from pymavlink import mavutil |
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from common import AutoTest |
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from pysim import util |
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from pysim import vehicleinfo |
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import operator |
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# get location of scripts |
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testdir = os.path.dirname(os.path.realpath(__file__)) |
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SITL_START_LOCATION = mavutil.location(-27.274439, 151.290064, 343, 8.7) |
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class AutoTestTracker(AutoTest): |
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def log_name(self): |
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return "AntennaTracker" |
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def test_filepath(self): |
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return os.path.realpath(__file__) |
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def sitl_start_location(self): |
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return SITL_START_LOCATION |
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def start_stream_systemtime(self): |
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'''AntennaTracker doesn't stream this by default but we need it for get_sim_time''' |
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try: |
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self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_SYSTEM_TIME, 10) |
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except Exception: |
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pass |
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self.set_message_rate_hz(mavutil.mavlink.MAVLINK_MSG_ID_SYSTEM_TIME, 10) |
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def set_rc_default(self): |
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'''tracker does not send RC_CHANNELS, so can't set_rc_default''' |
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'''... however, dodgily hook in here to get system time:''' |
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self.start_stream_systemtime() |
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def initialise_after_reboot_sitl(self): |
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self.start_stream_systemtime() |
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def default_mode(self): |
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return "AUTO" |
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def is_tracker(self): |
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return True |
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def default_frame(self): |
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return "tracker" |
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def apply_defaultfile_parameters(self): |
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# tracker doesn't have a default parameters file |
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pass |
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def sysid_thismav(self): |
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return 2 |
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def reboot_sitl(self): |
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"""Reboot SITL instance and wait it to reconnect.""" |
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self.wait_heartbeat() |
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if self.armed(): |
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self.disarm_vehicle() |
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self.mavproxy.send("reboot\n") |
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self.mavproxy.expect("Init AntennaTracker") |
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# empty mav to avoid getting old timestamps: |
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while self.mav.recv_match(blocking=False): |
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pass |
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self.initialise_after_reboot_sitl() |
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def disabled_tests(self): |
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return { |
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"ArmFeatures": "See https://github.com/ArduPilot/ardupilot/issues/10652", |
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} |
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def tests(self): |
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'''return list of all tests''' |
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ret = super(AutoTestTracker, self).tests() |
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ret.extend([ |
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]) |
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return ret
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